仿人机器人相似性运动轨迹跟踪控制研究

柯文德; 彭志平; 蔡则苏; 朴松昊; 陈珂

doi:10.3724/SP.J.1004.2014.02404

仿人机器人相似性运动轨迹跟踪控制研究

doi: 10.3724/SP.J.1004.2014.02404

1.
广东石油化工学院计算机与电子信息学院茂名 525000;
2.
哈尔滨工业大学计算机科学与技术学院哈尔滨 150001

基金项目:

国家自然科学基金 (61075076, 61272382), 广东省自然科学基金 (S2012010009963, 8152500002000003), 广东省高等学校科技创新项目(2012KJCX0077), 广东省高校石化故障诊断与信息化控制工程中心开放基金(512009), 广东石油化工学院博士启动项目,广东省高等学校高层次人才项目资助

详细信息

作者简介:
柯文德广东石油化工学院计算机与电子信息学院教授. 2013 年获哈尔滨工业大学计算机科学与技术学院博士学位.主要研究方向为仿人机器人, 运动规划与智能控制.E-mail: wendek@163.com

通讯作者:
蔡则苏, 哈尔滨工业大学计算机科学与技术学院副教授. 2006 年获哈尔滨工业大学计算机科学与技术学院博士学位.主要研究方向为移动机器人, 同步定位与地图构建技术, 机器视觉. 本文通信作者. E-mail: caizesu@hit.edu.cn

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出版历程
- 收稿日期: 2013-05-29
- 修回日期: 2014-01-20
- 刊出日期: 2014-11-20

Study of Trajectory Tracking Control for Humanoid Robot Based onSimilarity Locomotion

1.
School of Computer and Electronic Technology, Guangdong University of Petrochemical Technology, Maoming 525000;
2.
School of Computer Science, Harbin Institute of Technology, Harbin 150001

Funds:

Supported by National Natural Science Foundation of China (61075076, 61272382), Natural Science Foundation of Guangdong Province (S2012010009963, 8152500002000003), High School Scientific Innovation Project of Guangdong Province (2012KJCX0077), Project Center Fund of Petrochemical Fault Diagnosing and Information Control of Guangdong High School (512009), Doctor Startup Project of Guangdong University of Petrochemical Technology, and Hight Level Talent Project of High School of Guangdong Province

摘要

摘要: 提出一种基于带观测器的条件状态反馈控制的仿人机器人相似性运动轨迹跟踪控制方法.首先,分析了7连杆双足机器人动力学模型,阐述了其运动能量方程与动力学特征方程; 其次,基于带观测器的状态反馈控制器原理,构建起三维倒立摆平衡控制模型; 最后,由线性二次型调节器确定状态反馈增益矩阵,使机器人轨迹跟踪误差最小化,以复现出较高相似度的双足步行运动效果.实验验证了该方法的有效性.
- 仿人机器人 /
- 相似性 /
- 平衡 /
- 轨迹
Abstract: A method of trajectory tracking control with similarity locomotion for humanoid robot based on state feedback controller with observer is proposed. Firstly, a dynamics model for a 7-link biped robot is analyzed, and the equations of movement energy and dynamics characteristics were illustrated. Secondly, the 3-dimensional inverted pendulum control model is constructed based on the state feedback controller with observer. Thirdly, a linear quadratic regulator is used to obtain the state feedback gain matrix, which makes the error of trajectory tracking minimal and reproduces the highly similar biped walking effect for robot. Experiments indicate the validity of the method.
- Humanoid robot /
- similarity /
- balance /
- track

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参考文献(18)

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仿人机器人相似性运动轨迹跟踪控制研究

doi: 10.3724/SP.J.1004.2014.02404

作者简介:
柯文德广东石油化工学院计算机与电子信息学院教授. 2013 年获哈尔滨工业大学计算机科学与技术学院博士学位.主要研究方向为仿人机器人, 运动规划与智能控制.E-mail: wendek@163.com

通讯作者:
蔡则苏, 哈尔滨工业大学计算机科学与技术学院副教授. 2006 年获哈尔滨工业大学计算机科学与技术学院博士学位.主要研究方向为移动机器人, 同步定位与地图构建技术, 机器视觉. 本文通信作者. E-mail: caizesu@hit.edu.cn

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Study of Trajectory Tracking Control for Humanoid Robot Based onSimilarity Locomotion

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留言板

仿人机器人相似性运动轨迹跟踪控制研究

doi: 10.3724/SP.J.1004.2014.02404

作者简介: 柯文德 广东石油化工学院计算机与电子信息学院教授. 2013 年获哈尔滨工业大学计算机科学与技术学院博士学位.主要研究方向为仿人机器人, 运动规划与智能控制.E-mail: wendek@163.com

通讯作者: 蔡则苏, 哈尔滨工业大学计算机科学与技术学院副教授. 2006 年获哈尔滨工业大学计算机科学与技术学院博士学位.主要研究方向为移动机器人, 同步定位与地图构建技术, 机器视觉. 本文通信作者. E-mail: caizesu@hit.edu.cn

计量

出版历程

Study of Trajectory Tracking Control for Humanoid Robot Based onSimilarity Locomotion

计量

出版历程

目录

作者简介:
柯文德广东石油化工学院计算机与电子信息学院教授. 2013 年获哈尔滨工业大学计算机科学与技术学院博士学位.主要研究方向为仿人机器人, 运动规划与智能控制.E-mail: wendek@163.com

通讯作者:
蔡则苏, 哈尔滨工业大学计算机科学与技术学院副教授. 2006 年获哈尔滨工业大学计算机科学与技术学院博士学位.主要研究方向为移动机器人, 同步定位与地图构建技术, 机器视觉. 本文通信作者. E-mail: caizesu@hit.edu.cn